CN115033040B - Road roller transition walking control method and control system thereof - Google Patents
Road roller transition walking control method and control system thereof Download PDFInfo
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- CN115033040B CN115033040B CN202210671878.2A CN202210671878A CN115033040B CN 115033040 B CN115033040 B CN 115033040B CN 202210671878 A CN202210671878 A CN 202210671878A CN 115033040 B CN115033040 B CN 115033040B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/02—Feeding devices for pavers
- E01C2301/04—Independent shuttles
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/02—Feeding devices for pavers
- E01C2301/08—Pushing devices for lorries
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1002—Output torque
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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Abstract
The invention discloses a road roller transfer walking control method and a control system thereof, and belongs to the technical field of engineering machinery. The device solves the defects of high oil consumption when the rotation speed of the engine is high and unstable running pressure when the rotation speed of the engine is low in the traditional road roller transition running in the prior art. The main structure of the hydraulic system comprises an engine, a controller, a pressure sensor, a walking hydraulic system and a vibration hydraulic system, wherein the vibration hydraulic system comprises an oil supplementing pump, a control valve, a vibration motor and a vibration pump, the walking hydraulic system comprises a walking pump, a rear walking motor, a rear wheel, a front walking motor and a front wheel, the walking pump is respectively connected with the rear walking motor and the front walking motor, the controller is respectively connected with the engine, the walking pump, the rear walking motor, the front walking motor, the control valve and the pressure sensor, and the control valve is respectively connected with the oil supplementing pump, the vibration motor, the vibration pump, the rear walking motor and the front walking motor. The invention is mainly used for engineering machinery such as road rollers and the like.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a road roller transfer walking control method and a control system thereof.
Background
The engine speed and throttle control mode of the road roller is different from that of a common engineering machine, the engine speed and throttle controlled by the knob are regulated by the engine speed knob, when one position of the knob is given, the engine speed and throttle are corresponding to one constant engine speed and throttle, and then the running speed of the road roller is regulated by changing the position of the walking control handle, so that the engine of the road roller keeps constant-speed work. The road roller is transferred at a higher speed, generally in rabbit gear, the displacement of a walking motor is unchanged, the engine speed and the accelerator are set to be maximum in order to ensure that the road roller can normally start in a severe environment, the oil consumption is larger, the transfer does not need much energy along with the transfer entering a stable state, most of energy generated by the engine is wasted if the engine is still kept at the maximum speed and the accelerator, and in order to reduce the oil consumption of the engine, part of operators reduce the engine speed, but the working conditions of the road roller are different, the engine is possibly flamed due to the reduction of the engine speed; and under the same working condition, the smaller the throttle of the engine is, the lower the rotating speed is, the smaller the rotating speed of the engine is, the flow of the oil supplementing pump is smaller, the cooling of the walking closed hydraulic system is not enough, the braking is difficult to release by using the oil supplementing pump, in addition, the flushing flow is certain, the flow of the oil supplementing pump is possibly insufficient to maintain the flushing and leakage, so the pressure can not be established, and the walking pressure is unstable.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art, and provides a transition walking control method and a control system thereof for a road roller, which can ensure lower oil consumption along with the change of the walking working condition in the walking process of the road roller and realize the fuel economy of the road roller.
In order to achieve the above purpose, the present invention is realized by adopting the following technical scheme:
a road roller transfer walking control method comprises the following steps:
s1: starting a transition mode, and enabling the flow of the oil supplementing pump to flow into the traveling hydraulic system for oil supplementing by a control valve signal;
s2: when the transition mode is just started, the engine speed is set to n max The displacement of the traveling pump is pulled to the maximum from small, and the displacement of the front traveling motor and the rear traveling motor are both set to the maximum displacement;
s3: when the pressure detected by the pressure sensor is constant, the actual power P of the engine at the moment is compared Real world A delta P and a comparison power P Small size ；
S4: if the actual power P Real world A + [ delta ] P is less than the comparison power P Small size The displacement of the front walking motor and the displacement of the rear walking motor are adjusted to be minimum, and the engine rotatesSpeed n Hair min Step S8 is carried out;
s5: if the actual power P Real world A + [ delta ] P is greater than the comparison power P Small size Then the power P will be compared Small size Increasing t% as new comparison power P 2 small Wherein t% is a preset increment;
s6: if the actual power P Real world The + [ delta ] P is smaller than the new comparison power P 2 small According to the engine graph, the engine speed is adjusted to be the new comparison power P 2 small Corresponding minimum rotation speed n Small size The displacement of the front walking motor is adjusted to be the minimum value V m1min Calculating the displacement V of the backward walking motor at the moment m2 The displacement of the walking motor is adjusted to be V according to the calculation result m2 Step S8 is carried out;
s7: if the actual power P Real world The + [ delta ] P is greater than the new comparison power P 2 small Repeating the steps S5, S6 and S7;
s8: and after the walking transition adjustment of the road roller is finished, performing transition according to the adjusted rotation speed of the engine and the displacement of the rear walking motor. Wherein Δp is reserved as a reservation amount at power abrupt change.
Preferably, the relationship between the vehicle speed and the engine speed is:
wherein V is p For displacement of the travelling pump, n Small size The rotation speed of the engine, i is the transmission ratio of the engine to the traveling pump, eta is the efficiency of the engine to the traveling pump, V m1 For the displacement of the forward travel motor, V m2 For displacement of rear-travel motor, v Vehicle with a frame For the speed of the vehicle R 1 R is the radius of the front wheel 2 Is the radius of the rear wheel.
A road roller transfer walking control method comprises the following steps:
s1: starting a transition mode, and enabling the flow of the oil supplementing pump to flow into the traveling hydraulic system for oil supplementing by a control valve signal;
s2: just start turningIn the field mode, the engine speed is set to n max The displacement of the traveling pump is pulled to the maximum from small, and the displacement of the front traveling motor and the rear traveling motor are both set to the maximum displacement;
s3: when the pressure detected by the pressure sensor is constant, the actual torque T of the engine at the moment is compared Real world A delta T and a comparison torque T Small size ；
S4: if the actual torque T Real world A + [ delta ] T less than the comparative torque T Small size The displacement of the front walking motor and the displacement of the rear walking motor are adjusted to be minimum, and the rotating speed of the engine is n Hair min Step S8 is carried out;
s5: if the actual torque T Real world A + [ delta ] T greater than the comparative torque T Small size Then the torque T will be compared Small size Increasing T% as new comparison torque T 2 small Wherein t% is a preset increment;
s6: if the actual torque T Real world The + [ delta ] T is less than the new comparison torque T 2 small According to the engine graph, the engine speed is adjusted to be the new comparison torque T 2 small Corresponding minimum rotation speed n Small size The displacement of the front walking motor is adjusted to be the minimum value V m1min Calculating the displacement V of the backward walking motor at the moment m2 The displacement of the walking motor is adjusted to be V according to the calculation result m2 Step S8 is carried out;
s7: if the actual torque T Real world A value of + [ delta ] T greater than the new comparison torque T 2 small Repeating the steps S5, S6 and S7;
s8: and after the walking transition adjustment of the road roller is finished, performing transition according to the adjusted rotating speed of the engine and the displacement of the rear walking motor, wherein DeltaT is reserved as a reserved quantity when torque is suddenly changed.
Preferably, the relationship between the vehicle speed and the engine speed is:
wherein V is p For displacement of the travelling pump, n Small size The rotation speed of the engine, i is the rotation speed of the engine to the running pumpIs the efficiency of the engine to the traveling pump, V m1 For the displacement of the forward travel motor, V m2 For displacement of rear-travel motor, v Vehicle with a frame For the speed of the vehicle R 1 R is the radius of the front wheel 2 Is the radius of the rear wheel.
The road roller transition walking control system comprises an engine, a controller, a pressure sensor, a walking hydraulic system and a vibration hydraulic system, wherein the vibration hydraulic system comprises an oil supplementing pump, a control valve, a vibration motor and a vibration pump, the walking hydraulic system comprises a walking pump, a rear walking motor, a rear wheel, a front walking motor and a front wheel, the walking pump is respectively connected with the rear walking motor and the front walking motor, the rear walking motor is also connected with the rear wheel, the front walking motor is also connected with the front wheel, the controller is respectively connected with the engine, the walking pump, the rear walking motor, the front walking motor, the control valve and the pressure sensor, and the control valve is respectively connected with the oil supplementing pump, the vibration motor, the vibration pump, the rear walking motor and the front walking motor.
Preferably, the oil supplementing pump comprises a traveling system oil supplementing pump and a vibration system oil supplementing pump, and the vibration system oil supplementing pump is respectively connected with the traveling system oil supplementing pump, the rear traveling motor and the front traveling motor through control valves.
Preferably, the oil supplementing pump comprises a quantitative oil supplementing pump, and the quantitative oil supplementing pump is respectively connected with the vibrating motor, the vibrating pump, the rear walking motor and the front walking motor through control valves.
Preferably, the oil supplementing pump comprises a variable pump, and the variable pump is respectively connected with the vibrating motor, the vibrating pump, the rear walking motor and the front walking motor through control valves.
Preferably, the walking pump is an electric proportional displacement walking pump, the front walking motor is an electric proportional displacement front walking motor, and the rear walking motor is an electric proportional displacement rear walking motor.
Compared with the prior art, the invention has the beneficial effects that:
1. when the road roller is in transition walking, normal walking of the road roller during transition can be guaranteed, lower oil consumption during the transition of the road roller can be realized, energy waste during the transition is avoided, and fuel economy of the road roller is realized;
2. when the road roller is in transition, the vibration frequency does not need to be kept constant, so that the rotation speed of the engine does not need to be ensured to be constant during transition;
3. the oil supplementing flow of the walking hydraulic system can meet the requirement when the rotation speed of the engine changes by the way of oil supplementing of an independent large pump or oil supplementing pump converging, and constant oil supplementing and braking releasing pressure is maintained.
Drawings
FIG. 1 is a hydraulic schematic of the present invention;
FIG. 2 is a block flow diagram of embodiment 1 of the present invention;
FIG. 3 is a block flow diagram of embodiment 2 of the present invention;
FIG. 4 is a hydraulic schematic of example 5 of the present invention;
fig. 5 is a hydraulic schematic of example 6 of the present invention.
In the figure: 1. an engine; 2. a controller; 3. a walking pump; 4. a walking system oil supplementing pump; 5. a rear walking motor; 6. a sensor; 7. a rear wheel; 8. a front travel motor; 9. a front wheel; 12. vibrating wheels; 13. a control valve; 14. a vibration motor; 15. a vibration system oil supplementing pump; 16. a vibration pump; 17. a pressure sensor; 18. quantitative oil supplementing pump; 19. a variable displacement pump.
Detailed Description
The invention will now be further illustrated by means of specific examples in connection with the accompanying drawings.
Example 1:
setting a maximum transfer speed, e.g. v Vehicle max According to the maximum displacement V of the travelling pump 3 pmax And a front travel motor 8, a rear travel motor 5 minimum displacement V m1min 、V m2min (minimum displacement determined by the running motor performance or input speed reducer, or motor high-efficiency zone minimum displacement), and preset or measured steering power P Rotation Can obtain v Vehicle max The minimum rotational speed n of the engine 1 Hair management The fuel consumption is the lowest at this time, and the power is P at this time Small size Let Δp be the reserved amount at the time of power jump, set as the comparative power. Transition lineWhen the running speed is stable, the front running motor 8 is set to the minimum displacement V m1min 。
As shown in fig. 1-2, a method for controlling the transition walking of a road roller comprises the following steps:
s1: starting a transition mode, and enabling the controller 2 to send signals to the control valve 13 so that the flow of the oil supplementing pump flows into the traveling hydraulic system, namely the rear traveling motor 5 and the front traveling motor 8 to supplement oil;
s2: because the road roller is driven to walk by relatively large torque when the road roller is started, and the road roller can be kept to walk by small torque after the road roller starts to walk, the engine rotating speed is set to n when the transition mode is started max The displacement of the walking pump 3 is pulled to the maximum from small, and the displacement of the front walking motor 8 and the displacement of the rear walking motor 5 are both set to the maximum displacement;
s3: when the pressure detected by the pressure sensor 17 is constant, the actual power P of the engine 1 at that time is compared Real world A delta P and a comparison power P Small size ；
S4: if the actual power P Real world A + [ delta ] P is less than the comparison power P Small size The displacement of the front walking motor 8 and the displacement of the rear walking motor 5 are adjusted to be the minimum value of the displacement, and the rotating speed of the engine is n Hair min Step S8 is carried out;
s5: if the actual power P Real world A + [ delta ] P is greater than the comparison power P Small size Then the power P will be compared Small size Increasing t% as new comparison power P 2 small Wherein t% is a preset increment, namely P Small size +t％＝P 2 small ；
S6: if the actual power P Real world The + [ delta ] P is smaller than the new comparison power P 2 small According to the engine graph, the engine speed is adjusted to be the new comparison power P 2 small Corresponding minimum rotation speed n Small size The displacement of the front travel motor 8 is adjusted to be the minimum value V m1min The displacement V of the backward traveling motor 5 at this time is calculated m2 The displacement of the walking motor 5 is regulated to be V according to the calculation result m2 Step S8 is carried out;
s7: if the actual power P Real world The + [ delta ] P is greater than the new comparison power P 2 small Repeating the steps S5, S6 and S7;
s8: and after the walking transition adjustment of the road roller is finished, the transition is carried out according to the adjusted rotation speed of the engine and the displacement of the rear walking motor 5. Wherein Δp is reserved as a reservation amount at power abrupt change.
The relation between the vehicle speed and the engine speed is as follows:
wherein V is p Is the displacement of the walking pump 3, the unit is mL/min, n Small size The unit r/min is the rotation speed of the engine 1, i is the transmission ratio of the engine 1 to the running pump 3, eta is the efficiency of the engine 1 to the running pump 3, V m1 Is the displacement of the front walking motor 8, the unit is mL/min, V m2 Is the displacement of the rear walking motor 5, the unit is mL/min, v Vehicle with a frame Is the speed of the vehicle, the unit is m/s, R 1 Is the radius of the front wheel 9, the unit is m, R 2 The displacement V of the rear travel motor 5 in step S6 can be calculated from the above equation with the radius of the rear wheel 7 being in m/S m2 。
Example 2:
the torque may also be compared to set a maximum transition vehicle speed, e.g., v Vehicle max According to the maximum displacement V of the travelling pump 3 pmax And a front travel motor 8, a rear travel motor 5 minimum displacement V m1min 、V m2min (minimum displacement determined by the running motor performance or input speed reducer, or motor high efficiency zone minimum displacement), and a preset or measured steering torque T Rotation Can obtain v Vehicle max The minimum rotational speed n of the engine 1 Hair min The fuel consumption is the lowest at this time, and the power is P at this time Small size Torque is T Small size Let ΔT be the reserved amount at the time of abrupt torque change, which is set as the comparative torque.
As shown in fig. 3, a method for controlling the transition and walking of a road roller comprises the following steps:
s1: starting a transition mode, and enabling the controller 2 to send signals to the control valve 13 so that the flow of the oil supplementing pump flows into the traveling hydraulic system, namely the rear traveling motor 5 and the front traveling motor 8 to supplement oil;
s2: because the road roller is driven to walk by relatively large torque when the road roller is started, and the road roller can be kept to walk by small torque after the road roller starts to walk, the engine rotating speed is set to n when the transition mode is started max The displacement of the walking pump 3 is pulled to the maximum from small, and the displacement of the front walking motor 8 and the displacement of the rear walking motor 5 are both set to the maximum displacement;
s3: when the pressure detected by the pressure sensor 17 is constant, the actual torque T of the engine 1 at that time is compared Real world A delta T and a comparison torque T Small size ；
S4: if the actual torque T Real world A + [ delta ] T less than the comparative torque T Small size The displacement of the front walking motor 8 and the displacement of the rear walking motor 5 are adjusted to be the minimum value of the displacement, and the rotating speed of the engine is n Hair min Step S8 is carried out;
s5: if the actual torque T Real world A + [ delta ] T greater than the comparative torque T Small size Then the torque T will be compared Small size Increasing T% as new comparison torque T 2 small Wherein T% is a predetermined increment, T Small size +t％＝T 2 small ；
S6: if the actual torque T Real world The + [ delta ] T is less than the new comparison torque T 2 small According to the engine graph, the engine speed is adjusted to be the new comparison torque T 2 small Corresponding minimum rotation speed n Small size The displacement of the front travel motor 8 is adjusted to be the minimum value V m1min The displacement V of the backward traveling motor 5 at this time is calculated m2 The displacement of the walking motor 5 is regulated to be V according to the calculation result m2 Step S8 is carried out;
s7: if the actual torque T Real world A value of + [ delta ] T greater than the new comparison torque T 2 small Repeating the steps S5, S6 and S7;
s8: and after the walking transition adjustment of the road roller is finished, performing transition according to the adjusted engine speed and the displacement of the rear walking motor 5, wherein the reserved delta T is used as the reserved quantity when the torque is suddenly changed.
The relation between the vehicle speed and the engine speed is as follows:
wherein V is p Is the displacement of the walking pump 3, the unit is mL/min, n Small size The unit r/min is the rotation speed of the engine 1, i is the transmission ratio of the engine 1 to the running pump 3, eta is the efficiency of the engine 1 to the running pump 3, V m1 Is the displacement of the front walking motor 8, the unit is mL/min, V m2 Is the displacement of the rear walking motor 5, the unit is mL/min, v Vehicle with a frame Is the speed of the vehicle, the unit is m/s, R 1 Is the radius of the front wheel 9, the unit is m, R 2 The displacement V of the rear travel motor 5 in step S6 can be calculated from the above equation with the radius of the rear wheel 7 being in m/S m2 。
From the above, the displacement V of the backward travel motor 5 in step S6 can be calculated m2 。
If the vehicle is in transition, the expected vehicle speed v Vehicle with a frame <Maximum vehicle speed v Vehicle max The displacement of the traveling pump 3 can be converted,
in step S4, the displacement of the front travel motor 8 is adjusted to a minimum value, and the rotation speed of the engine 1 is n Hair management Displacement V of rear travel motor 5 m2 The calculation is performed according to the above equation.
Example 3:
as shown in fig. 1, a road roller transfer travel control system provided according to embodiment 1 or embodiment 2 includes an engine 1, a controller 2, a sensor 6, a pressure sensor 17, a travel hydraulic system and a vibration hydraulic system, the vibration hydraulic system includes a supplemental pump, a control valve 13, a vibration motor 14 and a vibration pump 16, the vibration motor 14 is connected with the vibration wheel 12, the travel hydraulic system includes a travel pump 3, a rear travel motor 5, a rear wheel 7, a front travel motor 8 and a front wheel 9, the travel pump 3 is connected with the rear travel motor 5 and the front travel motor 8, the rear travel motor 5 is also connected with the rear wheel 7, the front travel motor 8 is also connected with the front wheel 9, the controller 2 is connected with the engine 1, the sensor 6, the travel pump 3, the rear travel motor 5, the front travel motor 8, a control valve 13 and the pressure sensor 17, and the control valve 13 are connected with the supplemental pump, the vibration motor 14, the vibration pump 16, the rear travel motor 5 and the front travel motor 8, respectively. The sensor 6 is a torque or power sensor, the traveling pump 3 is an electric proportional displacement traveling pump, the front traveling motor 8 is an electric proportional displacement front traveling motor, and the rear traveling motor 5 is an electric proportional displacement rear traveling motor.
When walking transitions, the sensor 6 transmits torque or power values to the controller 2, the controller 2 outputs control signals to realize control of the walking pump 3, the rear walking motor 5, the front walking motor 8, the control valve 13 and the engine 1, and the oil consumption is lower when the road roller transitions and walks.
Example 4:
as shown in fig. 1, the road roller transition walking control system comprises a walking system oil supplementing pump 4 and a vibration system oil supplementing pump 15, wherein the vibration system oil supplementing pump 15 is respectively connected with the walking system oil supplementing pump 4, the rear walking motor 5 and the front walking motor 8 through a control valve 13, and the vibration system oil supplementing pump 15 is also connected with a vibration motor 14 and a vibration pump 16. In the transfer process, the oil supplement of the vibration pump 16 is practically useless, and the oil supplement of the vibration system oil supplement pump 15 can be merged into the traveling system through the control valve 13 and the traveling system oil supplement pump 4. The other portions are the same as in example 3.
Example 5:
as shown in fig. 4, the road roller transfer walking control system comprises a quantitative oil supplementing pump 18, wherein the quantitative oil supplementing pump 18 is respectively connected with a vibration motor 14, a vibration pump 16, a rear walking motor 5 and a front walking motor 8 through a control valve 13. In contrast to example 4, the traveling system oil pump 4 and the vibration system oil pump 15 were not used, but a large fixed-amount oil pump 18 was used to supplement oil, and the flow rates of the traveling hydraulic system and the vibration hydraulic system were controlled by the control valve 13. The other portions are the same as in example 3.
Example 6:
as shown in fig. 5, the road roller transfer walking control system comprises a variable pump 19, wherein the variable pump 19 is respectively connected with a vibration motor 14, a vibration pump 16, a rear walking motor 5 and a front walking motor 8 through a control valve 13. Compared with the embodiment 4, the running system oil supplementing pump 4 and the vibration system oil supplementing pump 15 are not used, the variable pump 19 is used for supplementing oil, the flow of the running hydraulic system and the vibration hydraulic system is controlled through the control valve 13, signals are fed back to the position of the variable pump 19 to control the displacement of the variable pump 19, so that the oil supplementing flow is needed, and the variable pump 19 provides the oil supplementing flow. The other portions are the same as in example 3.
Claims (9)
1. A road roller transfer walking control method is characterized in that: setting the maximum transfer vehicle speed as v Vehicle max According to the maximum displacement V of the traveling pump (3) pmax And a front walking motor (8) and a rear walking motor (5) with minimum displacement V m1min 、V m2min And a preset or measured steering power P Rotation Can obtain v Vehicle max The minimum rotation speed n of the engine (1) Hair management The fuel consumption is the lowest at this time, and the power is P at this time Small size The method is set as comparison power and comprises the following steps:
s1: starting a transition mode, and enabling the flow of the oil supplementing pump to flow into a traveling hydraulic system for oil supplementing by a signal of a control valve (13) from a controller (2);
s2: when the transition mode is just started, the engine speed is set to n max The displacement of the walking pump (3) is pulled to the maximum from small, and the displacement of the front walking motor (8) and the rear walking motor (5) are both set to the maximum displacement;
s3: when the pressure detected by the pressure sensor (17) is constant, the actual power P of the engine (1) is compared Real world +ΔP and comparative Power P Small size ；
S4: if the actual power P Real world +ΔP is less than the comparison power P Small size The displacement of the front walking motor (8) and the displacement of the rear walking motor (5) are adjusted to be the minimum value of the displacement, and the rotating speed of the engine is n Hair min Step S8 is carried out;
s5: if the actual power P Real world +ΔP is greater than the comparison power P Small size Then the power P will be compared Small size Increasing t% as new comparison power P 2 small Wherein t% is a preset increment;
s6: if the actual power P Real world +ΔP is smaller than the new comparison power P 2 small According to the engine graph, the engine speed is adjusted to be the new comparison power P 2 small Corresponding minimum rotation speed n Small size The displacement of the front travel motor (8) is regulated to be the minimum value V m1min Calculating the displacement V of the rear traveling motor (5) at the moment m2 According to the calculated result, the displacement of the rear walking motor (5) is adjusted to be V m2 Step S8 is carried out;
s7: if the actual power P Real world +ΔP is greater than new comparison power P 2 small Repeating the steps S5, S6 and S7;
s8: after the walking transition adjustment of the road roller is finished, the transition is carried out according to the adjusted engine rotating speed and the displacement of the rear walking motor (5); wherein Δp is reserved as a reserved amount at the time of power abrupt change.
2. The method for controlling the transition walking of the road roller according to claim 1, wherein: the relation between the vehicle speed and the engine speed is as follows:
wherein V is p For the displacement of the travelling pump (3), n Small size I is the transmission ratio of the engine (1) to the traveling pump (3), eta is the efficiency of the engine (1) to the traveling pump (3), and V m1 Is the displacement of the front walking motor (8), V m2 For the displacement of the rear walking motor (5), v Vehicle with a frame For the speed of the vehicle R 1 Is the radius of the front wheel (9), R 2 Is the radius of the rear wheel (7).
3. A road roller transfer walking control method is characterized in that: setting the maximum transfer vehicle speed as v Vehicle max According to the maximum displacement V of the traveling pump (3) pmax And a front walking motor (8) and a rear walking motor (5) with minimum displacement V m1min 、V m2min And a preset or measured steering torque T Rotation Can obtain v Vehicle max The minimum rotation speed n of the engine (1) Hair min The fuel consumption is the lowest at this time, and the power is P at this time Small size Torque is T Small size Set as the comparison torque, comprising the steps of:
s1: starting a transition mode, and enabling the flow of the oil supplementing pump to flow into a traveling hydraulic system for oil supplementing by a signal of a control valve (13) from a controller (2);
s2: when the transition mode is just started, the engine speed is set to n max The displacement of the walking pump (3) is pulled to the maximum from small, and the displacement of the front walking motor (8) and the rear walking motor (5) are both set to the maximum displacement;
s3: when the pressure detected by the pressure sensor (17) is constant, the actual torque T of the engine (1) is compared Real world +DeltaT and comparative Torque T Small size ；
S4: if the actual torque T Real world +ΔT is less than the comparative torque T Small size The displacement of the front walking motor (8) and the displacement of the rear walking motor (5) are adjusted to be the minimum value of the displacement, and the rotating speed of the engine is n Hair min Step S8 is carried out;
s5: if the actual torque T Real world +ΔT is greater than the comparative torque T Small size Then the torque T will be compared Small size Increasing T% as new comparison torque T 2 small Wherein t% is a preset increment;
s6: if the actual torque T Real world +ΔT is less than the new comparative torque T 2 small According to the engine graph, the engine speed is adjusted to be the new comparison torque T 2 small Corresponding minimum rotation speed n Small size The displacement of the front travel motor (8) is regulated to be the minimum value V m1min Calculating the displacement V of the rear traveling motor (5) at the moment m2 According to the calculated result, the displacement of the rear walking motor (5) is adjusted to be V m2 Step S8 is carried out;
s7: if the actual torque T Real world +ΔT is greater than new comparative torque T 2 small Repeating the steps S5, S6 and S7;
s8: and after the walking transition adjustment of the road roller is finished, performing transition according to the adjusted engine rotating speed and the displacement of the rear walking motor (5), wherein deltaT is reserved as a reserved quantity when torque is suddenly changed.
4. A method of controlling the transition travel of a road roller according to claim 3, wherein: the relation between the vehicle speed and the engine speed is as follows:
wherein V is p For the displacement of the travelling pump (3), n Small size I is the transmission ratio of the engine (1) to the traveling pump (3), eta is the efficiency of the engine (1) to the traveling pump (3), and V m1 Is the displacement of the front walking motor (8), V m2 For the displacement of the rear walking motor (5), v is the speed of the vehicle, R 1 Is the radius of the front wheel (9), R 2 Is the radius of the rear wheel (7).
5. A road roller transfer travel control system provided in accordance with the road roller transfer travel control method of any one of claims 1 to 4, comprising an engine (1), a controller (2), a pressure sensor (17), a travel hydraulic system and a vibratory hydraulic system, characterized in that: the vibration hydraulic system comprises a supplementary oil pump, a control valve (13), a vibration motor (14) and a vibration pump (16), the walking hydraulic system comprises a walking pump (3), a rear walking motor (5), a rear wheel (7), a front walking motor (8) and a front wheel (9), the walking pump (3) is respectively connected with the rear walking motor (5) and the front walking motor (8), the rear walking motor (5) is also connected with the rear wheel (7), the front walking motor (8) is also connected with the front wheel (9), the controller (2) is respectively connected with the engine (1), the walking pump (3), the rear walking motor (5), the front walking motor (8), the control valve (13) and the pressure sensor (17), and the control valve (13) is respectively connected with the supplementary oil pump, the vibration motor (14), the vibration pump (16), the rear walking motor (5) and the front walking motor (8).
6. The roller transition travel control system of claim 5, wherein: the oil supplementing pump comprises a traveling system oil supplementing pump (4) and a vibration system oil supplementing pump (15), and the vibration system oil supplementing pump (15) is respectively connected with the traveling system oil supplementing pump (4), the rear traveling motor (5) and the front traveling motor (8) through control valves (13).
7. The roller transition travel control system of claim 5, wherein: the quantitative oil supplementing pump (18) is connected with the vibrating motor (14), the vibrating pump (16), the rear walking motor (5) and the front walking motor (8) through control valves (13) respectively.
8. The roller transition travel control system of claim 5, wherein: the oil supplementing pump comprises a variable pump (19), and the variable pump (19) is respectively connected with the vibrating motor (14), the vibrating pump (16), the rear walking motor (5) and the front walking motor (8) through control valves (13).
9. The roller transition travel control system of claim 5, wherein: the walking pump (3) is an electric proportional displacement walking pump, the front walking motor (8) is an electric proportional displacement front walking motor, and the rear walking motor (5) is an electric proportional displacement rear walking motor.
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